Add asset bedroom_supplies/storage/d83854c341af5dfc96b4e8ce81649d27

.gitattributes

@@ -6056,4 +6056,4 @@ dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/affordance/mes
 dataset/bedroom_supplies/storage/d6c2f62be05d5f9682c279f52adda540/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d65f2795147f5290911b7912e17694f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d6c85fc9cbfa53739377482be6f77c71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d83854c341af5dfc96b4e8ce81649d27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/d83854c341af5dfc96b4e8ce81649d27/affordance/affordance_annot.json

@@ -0,0 +1,232 @@
+{
+    "affordances": [
+        {
+            "part_name": "lid panel",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid panel edge area to lift and open the jewelry box",
+                    "confidence": 0.72
+                },
+                {
+                    "scenario": "hold the lid panel to stabilize the box during inspection or repositioning",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "cover the compartment",
+                "protect contents",
+                "provide top opening surface",
+                "display decorative top"
+            ],
+            "semantic_description": "Large rectangular dark blue top panel on the lid, likely leather or faux leather with a glossy crocodile-embossed texture and a centered gold logo ornament.",
+            "id": 6,
+            "grasp_group": {
+                "grasp_23": {
+                    "confidence": 0.4829150438308716,
+                    "position": [
+                        0.16501907259225845,
+                        -0.017408853105735034,
+                        0.08531666453927755
+                    ],
+                    "orientation": {
+                        "w": 0.5831213801327088,
+                        "xyz": [
+                            -0.044643159897319866,
+                            -0.8109288446461145,
+                            -0.019257549881161375
+                        ]
+                    }
+                },
+                "grasp_24": {
+                    "confidence": 0.46708014607429504,
+                    "position": [
+                        0.1645539179444313,
+                        -0.0012405070010572672,
+                        0.08775701280683279
+                    ],
+                    "orientation": {
+                        "w": 0.5789044208617097,
+                        "xyz": [
+                            -0.03171300388978085,
+                            -0.8146665479512094,
+                            -0.013504537767540074
+                        ]
+                    }
+                },
+                "grasp_29": {
+                    "confidence": 0.43934834003448486,
+                    "position": [
+                        -0.17531967908143997,
+                        -0.026773459918331355,
+                        0.06122624035924673
+                    ],
+                    "orientation": {
+                        "w": 0.06647267084522718,
+                        "xyz": [
+                            -0.7453952335431047,
+                            0.001966766616047555,
+                            -0.6632974156975137
+                        ]
+                    }
+                },
+                "grasp_30": {
+                    "confidence": 0.4357670545578003,
+                    "position": [
+                        -0.1724909022450447,
+                        0.013734296255279332,
+                        0.06733380910009146
+                    ],
+                    "orientation": {
+                        "w": 0.053617220650893686,
+                        "xyz": [
+                            -0.7508469533102118,
+                            0.010988319520932932,
+                            -0.6582046058700529
+                        ]
+                    }
+                },
+                "grasp_35": {
+                    "confidence": 0.4155362546443939,
+                    "position": [
+                        -0.17606321722269058,
+                        -0.01387462270213291,
+                        0.052039205096662045
+                    ],
+                    "orientation": {
+                        "w": 0.059048452833757904,
+                        "xyz": [
+                            -0.7236549553123096,
+                            -0.006306240326953039,
+                            -0.6876023685261835
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lid frame",
+            "mask_color": "Lime Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the rigid lid rim to open the lid",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "pinch the top rim to reposition the closed box",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "reinforce lid perimeter",
+                "provide lid gripping edge",
+                "frame the top panel",
+                "protect lid edges"
+            ],
+            "semantic_description": "Narrow light gold rectangular border around the lid, likely metal with a polished reflective finish, hard smooth feel, and small round corner studs.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "box body",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp opposite side walls to lift and move the jewelry box",
+                    "confidence": 0.9
+                },
+                {
+                    "scenario": "hold the body to stabilize it while opening the clasp",
+                    "confidence": 0.86
+                }
+            ],
+            "functional_labels": [
+                "contain jewelry",
+                "support the overall structure",
+                "provide main grasp surface",
+                "enclose contents"
+            ],
+            "semantic_description": "Main lower box section with dark blue crocodile-embossed exterior, likely leather or faux leather over a rigid shell, glossy hard-sided finish, and a medium rectangular form.",
+            "id": 5,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "clasp tab",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the small upper clasp tab to release the jewelry box latch",
+                    "confidence": 0.83
+                }
+            ],
+            "functional_labels": [
+                "release the latch",
+                "toggle closure",
+                "provide small pull point"
+            ],
+            "semantic_description": "Small centered upper latch tab on the front in gold-toned polished metal, hard and smooth, appearing as a compact movable release piece above the main clasp body.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "front clasp base",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lower clasp body area to manipulate the latch during opening",
+                    "confidence": 0.55
+                },
+                {
+                    "scenario": "use a precise gripper on the clasp hardware to steady the front while unlatching",
+                    "confidence": 0.38
+                }
+            ],
+            "functional_labels": [
+                "secure the lid closed",
+                "provide latch anchor",
+                "enable opening manipulation"
+            ],
+            "semantic_description": "Centered lower front latch body in gold-toned metal with a polished reflective finish, hard smooth surface, and compact protruding hardware form below the small release tab.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "corner feet",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "support the box on a surface",
+                "elevate the base",
+                "protect bottom corners",
+                "improve stability"
+            ],
+            "semantic_description": "Four small round gold-toned feet at the bottom corners, likely metal with a polished smooth finish, hard texture, and short puck-like shape lifting the box slightly.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid emblem",
+            "mask_color": "Orange",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "decorate the lid",
+                "provide brand identification",
+                "add visual accent"
+            ],
+            "semantic_description": "Small centered gold emblem on the lid, likely polished metal with a reflective smooth surface and raised letter-like shape used as ornamentation.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bedroom_supplies/storage/d83854c341af5dfc96b4e8ce81649d27/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a3c45ce03c331da19f59bfe4589f06636d4174cb7051e74dbe34644510cb600
+size 3785820

dataset/bedroom_supplies/storage/d83854c341af5dfc96b4e8ce81649d27/jewelry_box_006.urdf

@@ -54,6 +54,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>YES</PartSegChecker>